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doc:srdl2_tutorial [2014/11/27 16:53] – [Missing components or capabilities] admindoc:srdl2_tutorial [2014/11/27 17:00] – [Startup] admin
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 $ rosrun rosprolog rosprolog knowrob_srdl $ rosrun rosprolog rosprolog knowrob_srdl
  
-% Load SRDL model of the PR2 robot+% Load SRDL model of the PR2 and Baxter robots
 ?- owl_parse('package://knowrob_srdl/owl/PR2.owl'). ?- owl_parse('package://knowrob_srdl/owl/PR2.owl').
 +?- owl_parse('package://knowrob_srdl/owl/baxter.owl').
  
 % Load an example task description for serving a drink % Load an example task description for serving a drink
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 <code prolog> <code prolog>
 +% No components nor capabilities are missing for the ServeADrink action on the PR2:
 ?- missing_comp_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C). ?- missing_comp_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C).
 false. false.
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 ?- missing_cap_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C). ?- missing_cap_for_action(serve_drink:'ServeADrink', pr2:'PR2Robot1', C).
 false. false.
 +
 +% The Baxter robot, in contrast, cannot perform the task due to lacking navigation abilities:
 +?- missing_cap_for_action(serve_drink:'ServeADrink', baxter:baxter_baxter1, C).
 +C = srdl2cap:'BaseMotionCapability'
 </code> </code>
 ===== Matching requirements to capabilities ===== ===== Matching requirements to capabilities =====